US 2026/0131468 A1Published application

Method for safely feeding loads to a robot

AssigneeInxpect S.p.A.

InventorAlban MUZAKA

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Abstract

To safely feed loads to a robot, a barrier with a passage opening, and a conveyor belt are provided. A radar system is configured to detect moving targets in three distinct detection regions above the conveyor belt, including a first region which occupies the passage opening, a third region proximal to the robot, and a second intermediate region. In a sequence of entry steps, a load advancing in the first and second regions is monitored until a verification step is initiated. In the verification step, the conveyor belt remains still, and it is verified that there are no humans between the robot and the barrier. In the entry and verification steps, the detection of a moving target in the third region determines the deactivation of the robot, In a delivery step, the conveyor belt transports the load towards the robot, and the detection of moving targets in the third region does not determine the deactivation of the robot.

Claims9

Dependent claims

A method for safely feeding loads to a robot, comprising:

providing a robot;
providing a barrier spaced from the robot, having a passage opening,
providing a conveyor bel operable to transport loads from the passage opening to the robot,
providing a radar system configured to detect moving targets in three distinct detection regions above the conveyor belt, including a first region which occupies the passage opening, a third region proximal to the robot, and a second region between the first and third regions,
controlling the operation of the conveyor and the robot as a function of the detection of targets by the radar system in the first, second, and third regions, such that:
in a sequence of entry steps and in a verification step, following the sequence of entry steps, the detection of a moving target in the third region determines the deactivation of the robot,
in the sequence of entry steps, a load is detected as a moving target in the first and second regions, until a predetermined intermediate condition is reached, identified by such a combination of target detections in the first, second and third regions as to determine the start of the verification step, wherein the intermediate condition is a condition in which the presence of at least one moving target is detected in the second region, and in which the absence of moving targets is detected in the first and third regions,
in the verification step, starting from the intermediate condition, the conveyor belt is controlled to remain still, and while the conveyor belt is still it is verified whether a predetermined safety condition is fulfilled, identified by a combination of target detections in the first, second and third regions indicative of the absence of humans between the robot and the barrier, wherein the safety condition is a condition in which the absence of moving targets is detected in the first, second, and third regions,
in a delivery step, following the verification step, starting from the safety condition, the conveyor belt is controlled to advance and transport the load towards the robot, and the detection of moving targets in the third region does not determine the deactivation of the robot.

6 more elements

Control system for feeding loads to a robot, comprising:

a radar system, configured to detect moving targets in three distinct detection regions above a conveyor belt, including a first region sized to occupy a passage opening of a barrier, a third region sized to be located proximal to a robot, and a second region between the first and third regions,
wherein the radar system is further configured to generate a status signal indicating the presence and absence of moving targets detected in each of the first, second, and third regions,
a processing system, having a first communication channel for receiving the status signal from the radar system, a second communication channel for controlling a conveyor belt, and a third communication channel for controlling a robot, wherein the processing system is configured to control the operation of the conveyor belt and the robot as a function of the status signal, such that:
in a sequence of entry steps and in a verification step, following the sequence of entry steps, the detection of a moving target in the third region determines the deactivation of the robot,
in the sequence of entry steps, the status signal is monitored with reference to the presence of moving targets in the first and second regions, until a predetermined intermediate condition is reached, identified by such a condition of the status signal as to determine the start of the verification step, wherein the intermediate condition is a condition in which the presence of at least one moving target is detected in the second region, and in which the absence of moving targets is detected in the first and third regions,
in the verification step, starting from the intermediate condition, the conveyor belt is controlled to stop and remain still, until a predetermined safety condition is reached, identified by a condition of the status signal indicative of the absence of humans between the robot and the barrier, wherein the safety condition is a condition in which the absence of moving targets is detected in the first, second, and third regions,
in a delivery step, following the verification step, starting from the safety condition, the conveyor belt is controlled to advance and transport the load towards the robot, and the detection of moving targets in the third region does not determine the deactivation of the robot.

4 more elements

Dependencies are inferred from the claim text.